Apparatus of a robot for installing weather stripping in a door or like opening

ABSTRACT

The present invention provides for an apparatus and method for installing weather stripping in a body door opening. In its preferred embodiment the present invention provides a robot which can load itself from a weather stripping station, transfer the weather stripping to the body door opening, and install the weather stripping within the body door opening. The present invention also provides an end of arm tooling device for a robot above-described.

This application is a continuation of application Ser. No. 091,198 filedon Oct. 15, 1987, now U.S. Pat. No. 4,780,943, which is a division ofapplication Ser. No. 888,238 filed July 18, 1986, now U.S. Pat. No.4,715,110.

FIELD OF THE PRESENT INVENTION

The field of the present invention is that of an apparatus and method ofinstalling weather stripping in door and like openings using a robot.The field of the present invention is also that of an end of arm toolingdevice (EOT) for a robot which installs weather stripping in door andlike openings.

DISCLOSURE STATEMENT

It is well known in the art to utilize weather stripping comprised ofelastomeric materials to seal the openings in vehicles such as a dooropening or trunk. The weather stripping used to seal the openings has agenerally U-shaped cross sectional portion with interior barbs calledthe carrier. Transversely joined to the carrier is a tubular portion. Toinstall the weather stripping the carrier of the weather stripping ispress fitted over the sheet metal flange of the periphery of the vehicleopening with the tubular portion facing outward. The barbs of thecarrier grab the sheet metal flange of the vehicle opening to retain theweather stripping in place.

Manual installation of the weather stripping requires pounding by arubber mallet. Since the installer selectively strikes only certainsegments of the weather stripping with the mallet, the application ofthe weather stripping can sometimes be somewhat uneven.

SUMMARY OF THE INVENTION

To overcome the above-noted and other problems the present invention isbrought forth. The present invention provides an apparatus and method ofutilization of the same of a robot for installation of weather strippingin a body door or like opening. The present invention also provides anEOAT for use on the robot above-described. The present invention in itspreferred embodiment provides a robot which can load the weatherstripping from a loading station, transfer the weather stripping to thebody opening, and then with a pressure roller install the weatherstripping within a body door or like opening.

It is an object of the present invention to provide a robot which caninstall weather stripping into the opening of a vehicle or like body. Itis also an object of the present invention to provide an EOAT for arobot as above-described. It is another object of the present inventionto provide a method for installing weather stripping within a body dooror like opening.

It is still another object of the present invention to provide a robotfor installing weather stripping stored in a loading station into a bodyopening, the robot in combination comprising, an arm supported on apedestal movable in both horizontal and vertical planes, a selectivelyoperable gripper on the end of the arm to grab the weather strippingfrom the loading station to load the arm, a guide roller rotatablymounted to the end of the arm having a first position of engagement withthe weather stripping to align the weather stripping and the guideroller having a second position out of engagement with the weatherstripping, an idler roller on the end of the arm supporting the weatherstripping generally opposite the guide roller in the first position ofthe guide roller, and a powered pressure roller relatively mounted onthe end of the arm having variable rotational velocity and compliancewith respect to the arm in two axes, the pressure roller receivingweather stripping from the guide roller and guiding the weatherstripping and tracing the opening of the body whereby the weatherstripping is affixed to the body opening.

It is yet still another object of the present invention to provide amethod of loading an arm of a robot with weather stripping from aloading station wherein the robot has an EOAT with a pressure roller anda guide roller having a first position of engagement with the weatherstripping and a second position out of engagement with the weatherstripping and a selectively operable gripper to grab the weatherstripping, the method including, contacting the weather stripping withthe pressure roller, closing the gripper to grab the weather stripping,and translating the guide roller from the second position to the firstposition whereby the weather stripping is loaded to the robot arm.

Other objects, desires and advantages of the present invention willbecome more apparent to those skilled in the art as the nature of theinvention is better understood from the accompanying drawings and adetailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of the robot of the present invention in afactory environment;

FIGS. 2, 3 and 4 are partial perspective views of the EOAT of the robotof the present invention loading the weather stripping from the loadingstation;

FIG. 5 is a perspective view illustrating the robot installing theweather stripping within the vehicle door opening during the initialstages of installation;

FIG. 6 is a perspective view illustrating the robot installing theweather stripping in the vehicle door opening towards the end of theinstallation.

DETAILED DESCRIPTION OF THE DRAWINGS

Referring to FIG. 1, a six axes robot 10 is located adjacent the side ofthe vehicle body 11. The vehicle 11 is moved along on a conveyor line orby an automatic guided vehicle 13. A weather stripping loading stationis provided by carousel or conveyor line 14 adjacent to the robot 10.The conveyor line 14 carries a series of presentation fixtures orhangers 15 on which are stored two separate fixed length closed loops ofweather stripping 16 (only one loop per hanger is shown for clarity ofillustration). The robot 10 as will be described later will load theweather stripping 16 from the conveyor line 14 and then transfer theweather stripping to the vehicle 11. The robot 10 will then install theweather stripping 16 by interacting with the vehicle door opening 18 toaffix the weather stripping 16 therein.

The robot 10 is supported on a pedestal 22 and has an arm 24 movable inboth horizontal and vertical planes for universal movement. At the endof the arm 24 is an EOAT device 40 which allows the robot 10 to pick upthe weather stripping 16 and to affix the same to the opening 18.

Referring to FIGS. 2, 3 and 4 the EOAT frame 42 has rotatably mountedthereon a pressure roller 26. The pressure roller 26 provides the meansto guide and seat the weather stripping 16 to affix the weatherstripping 16 to the vehicle opening 18. The pressure roller is poweredfor rotation and is provided with compliance in two perpendicular axeswith respect to the robot arm 24 by springs 30 and 32. The compliance iSprovided to allow for adjustments in the location of vehicle 11, thelocation of the opening 18, and the location of the opening flange 19(FIGS. 1, 5 and 6). Also, the pressure roller 26 has a clutch 34providing it with variable rotational velocity. The variable rotationalvelocity allows the robot 10 via the pressure roller 26 to trace thevehicle opening 18 at a faster rate along the straight sections such assection 35 (FIG. 5) and at a slower rate along the corners like section33 (FIG. 5).

To align the weather stripping 16 with the pressure roller 26 there isprovided a guide roller 36. The guide roller 36 is also rotatablymounted to the EOAT frame 42. The guide roller 36 has a first positionwherein it has a center blade 38 engaged with the weather stripping 16opposite the pressure roller 26. EOAT 40 has an air cylinder 43 and apivotally connected lever 44 (FIG. 4) to translate the guide roller 36to a second position out of engagement with the weather stripping 16.(FIGS. 2 and 6 in phantom). The second position is provided to allowloading of the weather stripping 16 to the robot 10 or to release theweather stripping 16 (FIG. 6 phantom) during the final stages ofinstallation.

Opposite the weather stripping 16 from the guide roller 36 is an idlerroller 46 which is rotatively mounted to the EOAT frame 42. The functionof the idler roller 46 is to cooperate with guide roller 36 in alignmentof the weather stripping 16 with the pressure roller 26.

The EOAT 40 has a means to load the arm 24 with weather stripping 16from conveyer 14 provided by a selectively operable gripper 56. Thegripper 56 allows the robot 10 to grab the weather stripping 16 fromconveyor 14 and transfer the weather stripping 16 to the opening 18.

In operation, the hangers 15 are loaded with weather stripping 16manually or by a machine by placing the U-shaped portion of the weatherstripping (commonly referred to as the carrier) onto the hanger. Therobot 10 positions the EOAT 40 in the proximity of the conveyor line 14.A sensor, not shown, located on the conveyor line 14 determines if aring of weather stripping 16 is present on the hanger 15 and signals therobot's controller the location of weather stripping 16. After receivingthe signal of the presence and location of the weather stripping 16, therobot 10 then positions the pressure roller 26 vertically upwards tocontact the weather stripping 16 (FIG. 3, note portions of hanger 15 aredeleted for clarity of illustration) with the carrier 17 of the weatherstripping 16 away from the robot wrist 28. The EOAT is then rotated viathe wrist 28 to allow the gripper 56 to grab the weather stripping 16.EOAT 40 is then rotated in the opposite direction (FIG. 2, hanger 15deleted for clarity of illustration) to bring the idler roller 46 intocontact with the weather stripping 16. An air cylinder 43 then activatesthe lever 44 (FIG. 4 with hanger 15 deleted for clarity ofillustration), translating the guide roller 36 to a position ofengagement with the weather stripping 16. Robot 10 then moves EOAT 40away from the hanger 15 thereby completing the loading of the arm 24. Ifdesired, the sequence of operation of the grippers 56 grabbing weatherstripping 16 and the guide roller 36 moving from its second to firstposition can be reversed in the loading of the weather stripping 16 tothe arm 24.

Robot 10 then transfers the weather stripping 16 towards the opening 18(FIG. 5). Robot 10 first positions the EOAT 40 in such a position thatthe EOAT mounted sensor 66 can confirm the location of the opening 18.Also the gripper 56 will now be actuated to release the weatherstripping 16.

Installation may start anywhere, however it is preferable to start onthe A pillar 37 of the opening 18 and then proceed in an upwarddirection. Robot 10, via the arm 24 and the wrist 28 will then cause thepressure roller 26 to trace the inner periphery of the door opening 18along the flange 19, guiding and affixing the carrier 17 of the weatherstripping to the flange 19 of the opening 18. Robot 10 may be programmedto move at a faster pace along the straight portions 36 and at a slowerpace along the corner 33 to insure an even installation of the weatherstripping 16. As mentioned previously, the rotational speed of thepressure roller 26 will be varied to provide for the changes in linearinstallation speed. As the installation nears completion (FIG. 6), theguide roller 36 will be translated to its second position (phantom) toprevent it from pulling away the prior installed weather stripping 16.The installation can now be completed as the pressure roller 24 moves upthe A pillar 37. The robot 10 will now return to conveyor 14 to bereloaded and the next opening or vehicle is brought into place.

The present invention provides a method for utilizing a robot 10 with anarm 24 having a pressure roller 26 to install a loop of weatherstripping 16 stored in a loading station (conveyor) 14 to a vehicleopening 18, the method including the following steps:

1. Loading the robot arm 24 with a loop of weather stripping 16;

2. Transferring the weather stripping 16 from the loading station 14 tothe vehicle opening 18;

3. Interacting the pressure roller with the opening 18 of the vehiclebody whereby the weather stripping 16 is guided and affixed with theopening 18 of the vehicle body.

The present invention also provides a method of loading an arm 24 of arobot 10 with a loop of weather stripping 16 from a loading station 14wherein the robot has an EOAT 40 with a pressure roller 26 and guideroller 36 having a first position of engagement with the weatherstripping and a second position out of engagement and a selectivelyoperable gripper 56 to grab the weather stripping 16, the methodincluding the following steps:

1. Engaging the weather stripping 16 with the pressure roller 26;

2. Closing the gripper to grab the weather stripping 16, and translatingthe guide roller 36 from the second to the first position whereby theweather stripping is loaded to the robot arm 24.

The present invention is advantageous in that it allows the use ofweather stripping with a carrier having a more narrow opening. Thereforethe weather stripping will adhere to the flange of the vehicle bodyopening better. Narrow carrier openings make manual installation moredifficult and therefore have been avoided in the past.

The present invention is being described in regard to automotive vehiclebody openings, however the various applications of the present inventionextend beyond automotive vehicle body applications.

A few of the embodiments of the present invention have been explained.However, it will be readily apparent to those skilled in the art of thevarious modifications which can be made to the present invention withoutdeparting from the spirit and scope of this application as it isencompassed by the following claims.

The embodiments of the invention in which an exclusive property orprivilege is claimed are defined as follows:
 1. An EOAT for a robot usedfor installing a loop of weather stripping into a body opening, saidEOAT in combination comprising:a frame; a guide roller rotatably mountedto said frame having a first position engaged with said loop to alignsaid weather stripping and said guide roller having a second positionout of engagement with said loop; an idler roller mounted on said framefor supporting said loop generally opposite said guide roller in saidfirst position of said guide roller; and a powered pressure rollerrotatively mounted on said frame for receiving said loop from said guideroller and guiding said loop and tracing the opening of said bodywhereby said loop is affixed to the opening of said body.
 2. An EOAT fora robot used for installing a loop of weather stripping into a bodyopening, said EOAT in combination comprising;a frame; a guide rollerrotatably mounted to said frame having a first position engaged withsaid loop to align said weather stripping and said guide roller having asecond position out of engagement with said loop; an idle roller mountedon said frame for supporting said loop generally opposite said guideroller in said first position of said guide roller; and a poweredpressure roller rotatively mounted on said frame having variablerotational velocity for receiving said loop from said guide roller andguiding said loop and tracing the opening of said body whereby said loopis affixed to the opening of said body.
 3. An EOAT as described in claim1 wherein said loop is closed.
 4. An EOAT as described in claim 2wherein said loop is closed.
 5. An EOAT for a robot used for installinga loop of weather stripping into a body opening, said EOAT incombination comprising:a frame; a guide roller rotatably mounted to saidframe having a first position engaged with said loop to align saidweather stripping and said guide roller having a second position out ofengagement with said loop; an idler roller mounted on said frame forsupporting said loop generally opposite said guide roller in said firstposition of said guide roller; and a pressure roller rotatively mountedon said frame for receiving said loop from said guide roller and guidingsaid loop and tracing the opening of said body whereby said loop isaffixed to the opening of said body.
 6. An EOAT as described in claim 5wherein said loop is closed.